CN113081289A - Main operation arm for surgical robot - Google Patents

Abstract

The present disclosure provides a main operation arm for a surgical robot, including: the lifting mechanism comprises a lifting seat, a first mechanism, a main connecting rod, a second mechanism and a main hand; one end of the first mechanism is rotatably connected with the lifting seat; the main connecting rod is of an L-shaped structure, and the plane of one end of the main connecting rod is vertical to the plane of the other end of the main connecting rod; one end of the main connecting rod is rotatably connected with the other end of the first mechanism; one end of the second mechanism is rotatably connected with the other end of the main connecting rod; the main hand is connected with the other end of the second mechanism in a rotating way. The method has the decoupling characteristic, is convenient for establishing a kinematics model, further simplifies the control program and improves the precision and the reliability of the motion control.

Description

Main operation arm for surgical robot

Technical Field

The present disclosure relates to the field of surgical robots, and more particularly, to a main operation arm for a surgical robot.

Background

The minimally invasive surgical robot mostly adopts a master-slave control mode, and a doctor realizes accurate control of the motion of a surgical instrument at a slave operation end by controlling the pose of a master operation arm at a master operation end.

The main operating arm structure widely used at present mainly adopts a single open chain series mechanism, and an angle sensor is arranged at each connecting rod rotating pair of the series mechanism to detect the pose of the main operating arm. In order to make the main operation arm of the tandem structure control the control of all degrees of freedom of the slave operation end surgical instrument, the structure of the main operation arm is very complicated. In order to achieve the effect of gravity balance of the main operating arm, a counterweight device needs to be arranged on a connecting rod of the main operating arm, so that the main operating arm is large in size, large in motion inertia and difficult to operate.

Disclosure of Invention

Technical problem to be solved

The present disclosure provides a main operation arm for a surgical robot to solve the above-proposed technical problems.

(II) technical scheme

According to an aspect of the present disclosure, there is provided a main operation arm for a surgical robot, including:

the lifting seat is connected with the main operation end and moves on the main operation end along a third direction;

one end of the first mechanism is rotatably connected with the lifting seat;

one end of the main connecting rod is rotatably connected with the other end of the first mechanism; one end of the main connecting rod is arranged in parallel with the lifting seat, and the plane of one end of the main connecting rod is vertical to the plane of the other end of the main connecting rod; the first mechanism drives the main connecting rod to move along a second direction;

one end of the second mechanism is rotatably connected with the other end of the main connecting rod;

and the main hand is rotatably connected with the other end of the second mechanism.

In some embodiments of the present disclosure, the master link comprises:

the first connecting part is arranged in parallel with the lifting seat;

one end of the second connecting part is connected with one end of the first connecting part;

the third connecting part is connected with the other end of the second connecting part to form an L-shaped structure; the second connecting portion and the third connecting portion are located in the same plane, and the plane where the first connecting portion is located is perpendicular to the plane where the second connecting portion and the third connecting portion are located.

In some embodiments of the present disclosure, the first mechanism comprises:

one end of the first connecting rod is connected with the lifting seat through a first rotating shaft;

one end of the second connecting rod is connected with the lifting seat through a second rotating shaft;

one end of the third connecting rod is connected with the other end of the first connecting rod through a third rotating shaft; the other end of the third connecting rod is connected with the other end of the second connecting rod through a fourth rotating shaft;

one end of the fourth connecting rod is connected with one end of the third connecting rod through the third rotating shaft; the other end of the fourth connecting rod is connected with one end of the main connecting rod through a fifth rotating shaft;

one end of the fifth connecting rod is connected with one end of the third connecting rod through a fourth rotating shaft; the other end of the fifth connecting rod is connected with one end of the main connecting rod through a sixth rotating shaft.

In some embodiments of the present disclosure, an axial distance between the first rotating shaft and the third rotating shaft on the first connecting rod is equal to an axial distance between the second rotating shaft and the fourth rotating shaft on the second connecting rod, and the first connecting rod and the second connecting rod are arranged in parallel; the axial distance between the first rotating shaft and the second rotating shaft on the lifting seat is equal to the axial distance between the third rotating shaft and the fourth rotating shaft on the third connecting rod, and the lifting seat and the third connecting rod are arranged in parallel;

the axial distance between the third rotating shaft and the fifth rotating shaft on the fourth connecting rod is equal to the axial distance between the fourth rotating shaft and the sixth rotating shaft on the fifth connecting rod, and the fourth connecting rod and the fifth connecting rod are arranged in parallel; the distance between the axes of the fifth rotating shaft and the sixth rotating shaft on the main connecting rod is equal to the distance between the axes of the third rotating shaft and the fourth rotating shaft on the third connecting rod, and the main connecting rod and the third connecting rod are arranged in parallel.

In some embodiments of the present disclosure, the first mechanism comprises:

one end of the first translational arm is connected with the lifting seat through a fourteenth rotating shaft,

one end of the fifteenth rotating shaft is connected with the other end of the first translational arm, so that the fifteenth rotating shaft rotates on the first translational arm;

one end of the second translational arm is connected with the other end of the fifteenth rotating shaft, so that the second translational arm rotates around the fifteenth rotating shaft on the first translational arm;

one end of the sixteenth rotating shaft is connected with the other end of the second translational arm, so that the sixteenth rotating shaft rotates on the sixteenth rotating shaft; the other end of the sixteenth rotating shaft is connected with one end of the main connecting rod;

wherein, the gyration radiuses of the fourteenth rotation shaft, the fifteenth rotation shaft and the sixteenth rotation shaft are the same.

In some embodiments of the present disclosure, the first mechanism further comprises:

the first synchronous steel wire is arranged between the fourteenth rotating shaft and the fifteenth rotating shaft; the first synchronous steel wire is tensioned, and the fourteenth rotating shaft and the fifteenth rotating shaft synchronously rotate;

the second synchronous steel wire is arranged between the fifteenth rotating shaft and the sixteenth rotating shaft; the second synchronous steel wire is tensioned, and the fifteenth rotating shaft and the sixteenth rotating shaft synchronously rotate;

and the fourteenth rotating shaft, the fifteenth rotating shaft and the sixteenth rotating shaft are provided with accommodating grooves.

In some embodiments of the present disclosure, the first mechanism further comprises:

the three synchronizing wheels are respectively sleeved on the fourteenth rotating shaft, the fifteenth rotating shaft and the sixteenth rotating shaft;

and the two synchronous belts are respectively sleeved on two synchronous wheels connected with the fourteenth rotating shaft and the fifteenth rotating shaft and two synchronous wheels connected with the fifteenth rotating shaft and the sixteenth rotating shaft.

In some embodiments of the present disclosure, the second mechanism comprises:

one end of the seventh connecting rod is connected with the other end of the main connecting rod through a seventh rotating shaft;

one end of the eighth connecting rod is connected with the other end of the main connecting rod through an eighth rotating shaft, and the seventh connecting rod and the eighth connecting rod are arranged in parallel;

one end of the ninth connecting rod is connected with the other end of the seventh connecting rod through a ninth rotating shaft; the other end of the ninth connecting rod is connected with the other end of the eighth connecting rod and the main hand through a tenth rotating shaft.

In some embodiments of the present disclosure, an axial distance between the seventh rotating shaft and the ninth rotating shaft on the seventh connecting rod is equal to an axial distance between the eighth rotating shaft and the tenth rotating shaft on the eighth connecting rod, and the seventh connecting rod and the eighth connecting rod are arranged in parallel; the axial distance between the seventh rotating shaft and the eighth rotating shaft on the other end of the main connecting rod is equal to the axial distance between the ninth rotating shaft and the tenth rotating shaft on the ninth connecting rod, and the other end of the main connecting rod is parallel to the ninth connecting rod.

In some embodiments of the present disclosure, further comprising:

one end of the tenth connecting rod is connected with the lifting seat through an eleventh rotating shaft;

one end of the eleventh connecting rod is connected with the other end of the tenth connecting rod through a twelfth rotating shaft

One end of the twelfth connecting rod is connected with the other end of the eleventh connecting rod through a thirteenth rotating shaft; the other end of the twelfth connecting rod, one end of the second mechanism and the other end of the main connecting rod are coaxially connected.

(III) advantageous effects

According to the technical scheme, the main operating arm for the surgical robot disclosed by the invention has at least one or part of the following beneficial effects:

(1) the structural arrangement mode provided by the disclosure has a decoupling characteristic, and is convenient for building a kinematics model, so that a control program is simplified, and the motion control precision and reliability are improved.

(2) The surgical robot consists of a plurality of parallelogram structures, the normal direction of the motion plane of the surgical robot is parallel to the axes of all rotating shafts, namely, the self gravity direction of the main operation arm for the surgical robot is parallel to the normal direction of the motion plane, and the two directions of motion in the horizontal plane do not need balancing weights to balance the self gravity of the surgical robot, thereby being beneficial to reducing the structure volume.

(3) According to the lifting mechanism, the main connecting rod is of an L-shaped structure, so that the seventh rotating shaft and the eighth rotating shaft are arranged in a rear mode to be close to the lifting seat, the lengths of the seventh connecting rod and the eighth connecting rod are increased, a main hand obtains a larger movement space in the z direction, a larger displacement-rotation angle ratio is realized, and the control precision of the main hand in the z direction is improved.

Drawings

Fig. 1 is a schematic structural diagram of a main operation end in the embodiment of the present disclosure.

Fig. 2 is a schematic structural view of a main operation arm for a surgical robot according to an embodiment of the present disclosure.

Fig. 3 is a schematic top view of a main operation arm for a surgical robot according to an embodiment of the disclosure.

Fig. 4 is a partial structural schematic view of a main operation arm for a surgical robot according to an embodiment of the disclosure.

Fig. 5 is a schematic view of a main operation arm for a surgical robot including an auxiliary device in a use state.

Fig. 6 is a schematic view showing another use state of the main operation arm for the surgical robot including the auxiliary device.

Fig. 7 is a schematic structural view of a main operation arm for a surgical robot according to another embodiment of the present disclosure.

Fig. 8 is a schematic top view of a main operation arm of a surgical robot according to another embodiment of the disclosure.

Fig. 9 is a schematic view of the internal structure of the first mechanism of fig. 7.

Fig. 10 is a schematic view of the structure of the rotating shaft in fig. 7.

Fig. 11 is another internal structural view of the first mechanism of fig. 7.

Detailed Description

The main operating arm for the surgical robot comprises a lifting seat, a first mechanism, a main connecting rod, a second mechanism and a main hand; one end of the first mechanism is rotatably connected with the lifting seat; the main connecting rod is of an L-shaped structure, and the plane of one end of the main connecting rod is vertical to the plane of the other end of the main connecting rod; one end of the main connecting rod is rotatably connected with the other end of the first mechanism; one end of the second mechanism is rotatably connected with the other end of the main connecting rod; the main hand is connected with the other end of the second mechanism in a rotating way. The method has the decoupling characteristic, is convenient for establishing a kinematics model, further simplifies the control program and improves the precision and the reliability of the motion control.

For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.

Certain embodiments of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the disclosure are shown. Indeed, various embodiments of the disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements.

In a first exemplary embodiment of the present disclosure, a main operating terminal is provided. Fig. 1 is a schematic structural diagram of a main operation end in the embodiment of the present disclosure. As shown in fig. 1, a three-dimensional image system is arranged on the main operation end to provide a real-time three-dimensional image of an operation position for an operator, two main operation arms L01 are symmetrically arranged on the left and right sides of the main operation end and are respectively arranged on the left and right sides of the three-dimensional image system, and the operator can control the main operation arms L01 to realize accurate control of the movement of an operation instrument at the slave operation end. The two main operation arms can respectively move up and down along the slide rail of the main operation end, namely the z direction in the figure, so as to adapt to the operation habits of different operators. In this embodiment, the first direction is defined as x direction in the drawing, the second direction is defined as y direction in the drawing, and the third direction is defined as z direction in the drawing.

Fig. 2 is a schematic structural view of a main operation arm for a surgical robot according to an embodiment of the present disclosure. As shown in fig. 2, the main operation arm L01 for the surgical robot includes: the liftingseat 101, the first mechanism, themain link 108, the second mechanism and themain hand 102. The first mechanism includes: afirst link 103, a firstrotating shaft 201, asecond link 104, a secondrotating shaft 202, a thirdrotating shaft 203, a fourthrotating shaft 204, athird link 105, afourth link 106, afifth link 107, a fifthrotating shaft 205 and a sixthrotating shaft 206. The second mechanism includes: aseventh link 109, aneighth link 110, aninth link 111, aseventh rotation shaft 207, aneighth rotation shaft 208, aninth rotation shaft 209, and atenth rotation shaft 210.

The liftingseat 101 is used for mounting a main operating arm L01 for a surgical robot, two rotating shafts, a firstrotating shaft 201 and a secondrotating shaft 202 are arranged at the front end of the lifting seat, one end of a first connectingrod 103 is mounted on the firstrotating shaft 201, one end of a second connectingrod 104 is mounted on the secondrotating shaft 202, and the two connecting rods can rotate on the firstrotating shaft 201 and the secondrotating shaft 202 respectively. Both ends of thethird link 105 are connected to the other ends of thefirst link 103 and thesecond link 104 through a thirdrotating shaft 203 and a fourthrotating shaft 204, respectively. Thethird link 105 is rotatable on thefirst link 103 about athird rotation axis 203, and the other end of thethird link 105 is rotatable on thesecond link 104 about afourth rotation axis 204. The distance between the firstrotating shaft 201 and the secondrotating shaft 202 is equal to the distance between the thirdrotating shaft 203 and the fourthrotating shaft 204, the length of the first connectingrod 103 is equal to that of the second connectingrod 104, and the first connectingrod 103, the second connectingrod 104 and the third connectingrod 105 form a parallelogram mechanism, namely, the third connectingrod 105 is always parallel to the liftingseat 101 in the motion process.

One end of thefourth link 106 is connected to thefirst link 103 through thethird shaft 203, and thefourth link 106 can rotate on thefirst link 103. One end of thefifth link 107 is connected to thesecond link 104 through the fourthrotating shaft 204, and thefifth link 107 can rotate on thesecond link 104. Thefourth link 106 and thethird link 105 are respectively installed at the upper and lower sides of thefirst link 103, and thefifth link 107 and thethird link 105 are respectively installed at the upper and lower sides of thefirst link 103. The connecting rods do not interfere in the moving process.

Themain link 108 is connected to the other ends of thefourth link 106 and thefifth link 107 via afifth rotation shaft 205 and asixth rotation shaft 206, respectively. Themaster link 108 is rotatable on thefourth link 106 about afifth rotation axis 205, and themaster link 108 is also rotatable on thefifth link 107 about asixth rotation axis 206. The distance between the fifthrotating shaft 205 and the sixthrotating shaft 206 is equal to the distance between the thirdrotating shaft 203 and the fourthrotating shaft 204, the length of the fourth connectingrod 106 is equal to that of the fifth connectingrod 107, the fourth connectingrod 106, the fifth connectingrod 107 and the main connectingrod 108 form a parallelogram mechanism, and the main connectingrod 108 is always parallel to the third connectingrod 105 in the motion process, namely the main connectingrod 108 can be parallel to the liftingseat 101 in the motion process.

As shown in fig. 3, one end of themain link 108 is connected to thelifting base 101 through two serially connected parallelogram structures, and it can make two-degree-of-freedom translation in a plane, and the normal direction of the motion plane is parallel to the axes of the rotating shafts, i.e. the direction of gravity of themain link 108 is parallel to the normal direction of the motion plane, and it does not need a counterweight to balance its own gravity when moving in the two directions x and y as shown in fig. 3, which is helpful to reduce the volume of the main operation arm L01 for the surgical robot. The two serially-connected parallelogram structures of the main operating arm L01 for the surgical robot have better structural rigidity, and each connecting rod can be set to be a light rod, so that the size of the main operating arm can be reduced, the motion inertia of the main operating arm can be reduced, and the main operating arm L01 for the surgical robot can move more flexibly.

As shown in fig. 4, the other end of themain link 108 is provided with a seventhrotating shaft 207 and an eighthrotating shaft 208, one end of theseventh link 109 is mounted on the seventhrotating shaft 207, one end of theeighth link 110 is mounted on the eighthrotating shaft 208, and theseventh link 109 and theeighth link 110 can respectively rotate on the seventhrotating shaft 207 and the eighthrotating shaft 208. Both ends of theninth link 111 are connected to the other ends of theseventh link 109 and theeighth link 110 through aninth rotation shaft 209 and atenth rotation shaft 210, respectively. Theninth link 111 is rotatable on theseventh link 109 about aninth rotation axis 209, and the other end of theninth link 111 is rotatable on theeighth link 110 about atenth rotation axis 210. The distance between the seventhrotating shaft 207 and the eighthrotating shaft 208 is equal to the distance between the ninthrotating shaft 209 and the tenthrotating shaft 210, the length of the seventh connectingrod 109 is equal to that of the eighth connectingrod 110, and the seventh connectingrod 109, the eighth connectingrod 110 and the ninth connectingrod 111 form a parallelogram mechanism. In order to realize the force balance effect, a tension spring is installed between the seventhrotating shaft 207 and the tenthrotating shaft 210, and the gravity of the seventh connectingrod 109, the eighth connectingrod 110, the ninth connectingrod 111 and themain hand 102 can be balanced by using the elastic force of the tension spring, so that a balancing weight is prevented from being installed at one end of each connecting rod, and the motion inertia of each connecting rod is reduced.

Themaster hand 102 is mounted on a tenthrotating shaft 210, and can rotate around the tenthrotating shaft 210. The structure of themaster hand 102 is not important to the protection of this disclosure and will not be described in detail here.

As shown in fig. 4, the spatial structure of themain link 108 is an "L" shaped structure, which aims to set the seventh and eighthrotating shafts 207 and 208 to the vicinity of the liftingseat 101, thereby increasing the length of the seventh andeighth links 109 and 110. Specifically, the structure of themain link 108 is described, which includes a first connecting portion, a second connecting portion and a third connecting portion connected in sequence, and themain link 108 is L-shaped in plan view as shown in fig. 3. The first connecting portion and the liftingseat 101 are disposed in parallel in the same plane. The second connecting portion and the first connecting portion are not arranged in the same plane. The second connecting part and the third connecting part form an L-shaped structure and are in the same plane. The plane of the first connecting part is vertical to the plane of the second connecting part and the plane of the third connecting part.

The seventh connectingrod 109 and the eighth connectingrod 110 rotate around the seventhrotating shaft 207 and the eighthrotating shaft 208, and when the rotating angles are the same, the longer length of the connecting rods can enable themain hand 102 to obtain a larger moving space in the z direction, so that a larger displacement-rotation angle ratio is realized, and the control accuracy of themain hand 102 in the z direction is further improved. On the other hand, themain hand 102 has a larger and same-scale motion space in all directions under the fixed scale mapping, which can increase the motion range of the surgical instrument tip. Meanwhile, the surgical robot has the decoupling characteristic due to the structural arrangement mode of the main operating arm L01, the kinematic model is convenient to establish, the control program is simplified, and the motion control precision and reliability are improved.

In order to provide higher rigidity to the main operation arm L01 for the surgical robot, an auxiliary support link may be provided on the other side of the parallelogram mechanism formed by theseventh link 109, theeighth link 110, and theninth link 111. As shown in fig. 5, one end of the tenth connectingrod 112 is connected to thelifting base 101 through an eleventhrotating shaft 211 disposed on thelifting base 101, the tenth connectingrod 112 can rotate around the eleventhrotating shaft 211, the other end of the tenth connectingrod 112 is connected to the eleventh connectingrod 113 through a twelfthrotating shaft 212, the other end of the eleventh connectingrod 113 is connected to the twelfth connectingrod 114 through a thirteenthrotating shaft 213, the other end of the twelfth connectingrod 114 and the main connectingrod 108 have a common rotating shaft, and a seventhrotating shaft 207 and an eighthrotating shaft 208. The kinematic chain formed by thetenth link 112, theeleventh link 113 and thetwelfth link 114 can provide auxiliary support for themain hand 102, so that the movement process of the main hand is more stable.

In a second exemplary embodiment of the present disclosure, a master manipulator arm for a surgical robot is provided. Fig. 7 is a schematic structural view of a main operation arm for a surgical robot according to another embodiment of the present disclosure. Fig. 8 is a schematic top view of a main operation arm of a surgical robot according to another embodiment of the disclosure. As shown in fig. 7 and 8, the main operation arm for a surgical robot of the present embodiment is different from the main operation arm for a surgical robot of the first embodiment in that: the first mechanism includes: a firsttranslational arm 117, afourteenth rotation shaft 214, afifteenth rotation shaft 215, a secondtranslational arm 118, and asixteenth rotation shaft 216.

As shown in fig. 7, thelifting base 101 is used for mounting a main operation arm L02 for a surgical robot, a rotation shaft is provided at a front end of thelifting base 101, afourteenth rotation shaft 214 is fixedly mounted at an upper end surface of thelifting base 101, one end of the firsttranslational arm 117 is mounted on thefourteenth rotation shaft 214, that is, the firsttranslational arm 117 is mounted on thelifting base 101 through thefourteenth rotation shaft 214, and the firsttranslational arm 117 can rotate around thefourteenth rotation shaft 214. The fifteenthrotating shaft 215 is mounted at the other end of the firsttranslational arm 117, and the fifteenthrotating shaft 215 can rotate on the firsttranslational arm 117. The secondtranslational arm 118 is fixedly mounted at the other end of the fifteenthrotating shaft 215, that is, the secondtranslational arm 118 is connected with the firsttranslational arm 117 through the fifteenthrotating shaft 215, and the secondtranslational arm 118 can rotate around the fifteenthrotating shaft 215 on the firsttranslational arm 117. A sixteenthrotating shaft 216 is installed at the other end of the secondtranslational arm 118, and the sixteenthrotating shaft 216 can rotate on the secondtranslational arm 118.

The fourteenthrotating shaft 214, the fifteenthrotating shaft 215 and the sixteenthrotating shaft 216 are provided with agroove 217 for mounting a wire, as shown in fig. 9 and 10, the rotation radii of the fourteenthrotating shaft 214, the fifteenthrotating shaft 215 and the sixteenthrotating shaft 216 are the same, afirst synchronization wire 119 is mounted between the fourteenthrotating shaft 214 and the fifteenthrotating shaft 215, and after thefirst synchronization wire 119 is tensioned, the fifteenthrotating shaft 215 and the fourteenthrotating shaft 214 can synchronously rotate, that is, when the firsttranslational arm 117 rotates around the fourteenthrotating shaft 214, the fifteenthrotating shaft 215 and the fourteenthrotating shaft 214 keep the same phase angle. Thesecond synchronization wire 120 is installed between thefifteenth rotation shaft 215 and thesixteenth rotation shaft 216, and after thesecond synchronization wire 120 is tensioned, thesixteenth rotation shaft 216 and thefifteenth rotation shaft 215 can synchronously rotate, that is, when the secondtranslational arm 118 rotates around thefifteenth rotation shaft 215, thesixteenth rotation shaft 216 and thefifteenth rotation shaft 215 keep the same phase angle. Therefore, when the first and secondtranslational arms 117 and 118 move in combination, the sixteenth and fourteenthrotating shafts 216 and 214 always maintain the same phase angle under the action of the first andsecond synchronization wires 119 and 120.

The above-mentioned scheme that the sixteenthrotating shaft 216 and the fourteenthrotating shaft 214 always maintain the same phase angle through the synchronization wire may also achieve the same function through other embodiments.

As shown in fig. 11, the synchronizingwheels 130 are mounted on the fourteenthrotating shaft 214, the fifteenthrotating shaft 215 and the sixteenthrotating shaft 216, the number of teeth of each synchronizing wheel is the same as the modulus, and the synchronizingbelt 131 is mounted between the synchronizing wheels, so that the thirdrotating shaft 203 and the firstrotating shaft 201 can always keep the same phase angle when the firsttranslational arm 103 and the secondtranslational arm 104 move in a combined manner.

Referring to fig. 7, athirteenth link 121 is fixedly mounted at the lower end of the sixteenthrotating shaft 216, thethirteenth link 121 is mounted to keep the front and rear end surfaces parallel to thelifting base 101, and since the sixteenthrotating shaft 216 and the fourteenthrotating shaft 214 have the same phase angle, thethirteenth link 121 is always kept parallel to thelifting base 101 when the firsttranslational arm 117 and the secondtranslational arm 118 move jointly.

So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.

From the above description, those skilled in the art should have clear understanding of the main manipulator arm for a surgical robot according to the present disclosure.

In conclusion, the main operating arm for the surgical robot is convenient for establishing a kinematics model, so that a control program is simplified, the motion control precision and reliability are improved, and the surgical robot has an important application prospect in the field.

It should also be noted that directional terms, such as "upper", "lower", "front", "rear", "left", "right", and the like, used in the embodiments are only directions referring to the drawings, and are not intended to limit the scope of the present disclosure. Throughout the drawings, like elements are represented by like or similar reference numerals. Conventional structures or constructions will be omitted when they may obscure the understanding of the present disclosure.

And the shapes and sizes of the respective components in the drawings do not reflect actual sizes and proportions, but merely illustrate the contents of the embodiments of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.

Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

The use of ordinal numbers such as "first," "second," "third," etc., in the specification and claims to modify a corresponding element does not by itself connote any ordinal number of the element or any ordering of one element from another or the order of manufacture, and the use of the ordinal numbers is only used to distinguish one element having a certain name from another element having a same name.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.

The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims (10)

1. A master manipulator arm for a surgical robot, comprising:

the lifting seat (101) is connected with the main operation end and moves on the main operation end along a third direction;

one end of the first mechanism is rotationally connected with the lifting seat (101);

the main connecting rod (108), one end of the main connecting rod (108) is rotatably connected with the other end of the first mechanism; one end of the main connecting rod (108) is arranged in parallel with the lifting seat (101), and the plane where one end of the main connecting rod (108) is located is perpendicular to the plane where the other end of the main connecting rod (108) is located; the first mechanism drives the main connecting rod (108) to move along a second direction;

one end of the second mechanism is rotatably connected with the other end of the main connecting rod (108);

and the main hand (102) is rotatably connected with the other end of the second mechanism.

2. The master manipulator arm for surgical robots according to claim 1, wherein the master link (108) comprises:

the first connecting part is arranged in parallel with the lifting seat (101);

one end of the second connecting part is connected with one end of the first connecting part;

the third connecting part is connected with the other end of the second connecting part to form an L-shaped structure; the second connecting portion and the third connecting portion are located in the same plane, and the plane where the first connecting portion is located is perpendicular to the plane where the second connecting portion and the third connecting portion are located.

3. The master manipulator arm for surgical robots according to claim 1, wherein the first mechanism comprises:

one end of the first connecting rod (103) is connected with the lifting seat (101) through a first rotating shaft (201);

one end of the second connecting rod (104) is connected with the lifting seat (101) through a second rotating shaft (202);

a third connecting rod (105), one end of which is connected with the other end of the first connecting rod (103) through a third rotating shaft (203); the other end of the third connecting rod is connected with the other end of the second connecting rod (104) through a fourth rotating shaft (204);

one end of the fourth connecting rod (106) is connected with one end of the third connecting rod (105) through the third rotating shaft (203); the other end of the fourth connecting rod (106) is connected with one end of the main connecting rod (108) through a fifth rotating shaft (205);

one end of the fifth connecting rod (107) is connected with one end of the third connecting rod (105) through a fourth rotating shaft (204); the other end of the fifth connecting rod (107) is connected with one end of the main connecting rod (108) through a sixth rotating shaft (206).

4. The master manipulator arm for surgical robots according to claim 3, wherein the distance between the axes of the first and third rotating shafts (201, 203) on the first link (103) is equal to the distance between the axes of the second and fourth rotating shafts (202, 204) on the second link (104), and the first and second links (103, 104) are arranged in parallel; the axial distance between the first rotating shaft (201) and the second rotating shaft (202) on the lifting seat (101) is equal to the axial distance between the third rotating shaft (203) and the fourth rotating shaft (204) on the third connecting rod (105), and the lifting seat (101) and the third connecting rod (105) are arranged in parallel;

the axial distance of the third rotating shaft (203) and the fifth rotating shaft (205) on the fourth connecting rod (106) is equal to the axial distance of the fourth rotating shaft (204) and the sixth rotating shaft (206) on the fifth connecting rod (107), and the fourth connecting rod (106) and the fifth connecting rod (107) are arranged in parallel; the axial distance between the fifth rotating shaft (205) and the sixth rotating shaft (206) on the main connecting rod (108) is equal to the axial distance between the third rotating shaft (203) and the fourth rotating shaft (204) on the third connecting rod (105), and the main connecting rod (108) and the third connecting rod (105) are arranged in parallel.

5. The master manipulator arm for surgical robots according to claim 1, wherein the first mechanism comprises:

a first translation arm (117), one end of the first translation arm (117) is connected with the lifting seat (101) through a fourteenth rotating shaft (214),

a fifteenth rotating shaft (215), one end of the fifteenth rotating shaft (215) is connected with the other end of the first translational arm (117), so that the fifteenth rotating shaft (215) rotates on the first translational arm (117);

one end of the second translational arm (118) is connected with the other end of the fifteenth rotating shaft (215), so that the second translational arm (118) rotates around the fifteenth rotating shaft (215) on the first translational arm (117);

a sixteenth rotating shaft (216), wherein one end of the sixteenth rotating shaft (216) is connected with the other end of the second translational arm (118), so that the sixteenth rotating shaft (216) rotates on the sixteenth rotating shaft (216); the other end of the sixteenth rotating shaft (216) is connected with one end of the main connecting rod (108);

wherein the gyration radii of the fourteenth rotation shaft (214), the fifteenth rotation shaft (215) and the sixteenth rotation shaft (216) are the same.

6. The master manipulator arm for a surgical robot of claim 5, wherein the first mechanism further comprises:

a first synchronization wire (119) provided between the fourteenth rotation shaft (214) and the fifteenth rotation shaft (215); the first synchronous steel wire (119) is tensioned, and the fourteenth rotating shaft (214) and the fifteenth rotating shaft (215) rotate synchronously;

a second synchronizing wire (120) disposed between the fifteenth rotation shaft (215) and the sixteenth rotation shaft (216); the second synchronous steel wire (120) is tensioned, and the fifteenth rotating shaft (215) and the sixteenth rotating shaft (216) synchronously rotate;

wherein, the fourteenth rotating shaft (214), the fifteenth rotating shaft (215) and the sixteenth rotating shaft (216) are provided with accommodating grooves.

7. The master manipulator arm for a surgical robot of claim 5, wherein the first mechanism further comprises:

the three synchronizing wheels are respectively sleeved on the fourteenth rotating shaft (214), the fifteenth rotating shaft (215) and the sixteenth rotating shaft (216);

and the two synchronous belts are respectively sleeved on two synchronous wheels connected with the fourteenth rotating shaft (214) and the fifteenth rotating shaft (215) and on two synchronous wheels connected with the fifteenth rotating shaft (215) and the sixteenth rotating shaft (216).

8. The main operating arm for a surgical robot according to any one of claims 1 to 7, wherein the second mechanism comprises:

one end of the seventh connecting rod (109) is connected with the other end of the main connecting rod (108) through a seventh rotating shaft (207);

one end of the eighth connecting rod (110) is connected with the other end of the main connecting rod (108) through an eighth rotating shaft (208), and the seventh connecting rod (109) is arranged in parallel with the eighth connecting rod (110);

a ninth connecting rod (111), one end of the ninth connecting rod (111) is connected with the other end of the seventh connecting rod (109) through a ninth rotating shaft (209); the other end of the ninth connecting rod (111) is connected with the other end of the eighth connecting rod (110) and the main hand through a tenth rotating shaft (210).

9. The master manipulator for surgical robots as claimed in claim 8, wherein the axial distance of the seventh rotation axis (207) and the ninth rotation axis (209) on the seventh link (109) is equal to the axial distance of the eighth rotation axis (208) and the tenth rotation axis (210) on the eighth link (110), and the seventh link (109) and the eighth link (110) are arranged in parallel; the axial distance between the seventh rotating shaft (207) and the eighth rotating shaft (208) on the other end of the main connecting rod (108) is equal to the axial distance between the ninth rotating shaft (209) and the tenth rotating shaft (210) on the ninth connecting rod (111), and the other end of the main connecting rod (108) is parallel to the ninth connecting rod (111).

10. The main manipulation arm for surgical robots according to any one of claims 1 to 7, further comprising:

one end of the tenth connecting rod (112) is connected with the lifting seat (101) through an eleventh rotating shaft (211);

one end of the eleventh connecting rod (113) is connected with the other end of the tenth connecting rod (112) through a twelfth rotating shaft (212)

A twelfth connecting rod (114), one end of the twelfth connecting rod (114) is connected with the other end of the eleventh connecting rod (113) through a thirteenth rotating shaft (213); the other end of the twelfth connecting rod (114), one end of the second mechanism and the other end of the main connecting rod (108) are coaxially connected.

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